The subsystem design/basis for the final project
Dependencies: mbed-rtos mbed-src pixylib
Diff: global.cpp
- Revision:
- 19:05b8123905fb
- Parent:
- 17:47e107f9587b
--- a/global.cpp Thu Apr 07 13:19:29 2016 +0000 +++ b/global.cpp Mon Apr 24 21:37:50 2017 +0000 @@ -5,16 +5,16 @@ DigitalOut led2(LED2); DigitalOut led3(LED3); DigitalOut led4(LED4); -DigitalOut leftDir(p24); // +DigitalOut leftDir(p23); // DigitalOut rightDir(p22); // -DigitalOut spiReset(p8); //changed -DigitalOut ioReset(p14); // +DigitalOut spiReset(p14); //changed +DigitalOut ioReset(p15); // // Comunication SPI deSpi(p5, p6, p7); Pixy pixy(Pixy::SPI, p11, p12, p13); -//Serial pc(USBTX, USBRX); // PC serial channel -Serial pc(p28, p27); // Bluetooth serial channel +Serial pc(USBTX, USBRX); // PC serial channel +//Serial pc(p9, p10); // Bluetooth serial channel // Control PeriodicPI leftMotorPI(MOTOR_PERIOD, MOTOR_KP, MOTOR_KI); @@ -23,18 +23,15 @@ PeriodicPI xPI(NAVIGATION_PERIOD, STEERING_KP, STEERING_KI); // Other -PwmOut leftPwm(p23); // -PwmOut rightPwm(p21); // -InterruptIn bumper(p25); +PwmOut leftPwm(p24); +PwmOut rightPwm(p21); -// Converts measurements from the QE2 to rads/sec -float QE2RadsPerSec(short counts, short time) { - return ((float)counts*122.62)/time; +// Converts measurements from the FPGA to rads/sec +float RadsPerSec(short counts, short time) { + return ((float)counts*26.558)/time; } // Returns the last character -char flushBuffer(void) { - char ch; - while (pc.readable()) pc.putc(pc.getc()); - return ch; +void FlushBuffer(void) { + while (pc.readable()) pc.getc(); } \ No newline at end of file